Stability of a trotting quadruped robot with passive, underactuated legs

A 2-D dynamic simulation of a quadruped robot with passive, directionally compliant legs has shown that with the proper leg configuration, increased stability of the robot can be achieved passively. Increased stability is defined as decreased pitching motion of the robot. A limited search of the des...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 347 - 351
Main Authors Meek, S., Jongwon Kim, Anderson, M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Airplanes
Animals
Design optimization
Leg
Legged locomotion
Mobile robots
Orbital robotics
Robot sensing systems
Robotics and automation
Robust stability
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543232

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Summary:A 2-D dynamic simulation of a quadruped robot with passive, directionally compliant legs has shown that with the proper leg configuration, increased stability of the robot can be achieved passively. Increased stability is defined as decreased pitching motion of the robot. A limited search of the design space of the legs resulted in the finding the leg parameters that minimized the pitching. Steady state trotting, changing speeds, and disturbances such as steps and holes were tested.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543232